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Merge branch 'master' of https://github.com/RomanLut/inav into submit-gps-fix-estimation

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Roman Lut 2023-02-14 20:32:43 +01:00
commit 064a8eec7c
69 changed files with 1880 additions and 828 deletions
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130
src/main/programming/logic_condition.c
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@ -520,6 +520,105 @@ void logicConditionProcess(uint8_t i) {
}
}
static int logicConditionGetWaypointOperandValue(int operand) {
switch (operand) {
case LOGIC_CONDITION_OPERAND_WAYPOINTS_IS_WP: // 0/1
return (navGetCurrentStateFlags() & NAV_AUTO_WP) ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_INDEX:
return NAV_Status.activeWpNumber;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_ACTION:
return NAV_Status.activeWpAction;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_NEXT_WAYPOINT_ACTION:
{
uint8_t wpIndex = posControl.activeWaypointIndex + 1;
if ((wpIndex > 0) && (wpIndex < NAV_MAX_WAYPOINTS)) {
return posControl.waypointList[wpIndex].action;
}
return false;
}
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_DISTANCE:
{
uint32_t distance = 0;
if (navGetCurrentStateFlags() & NAV_AUTO_WP) {
fpVector3_t poi;
gpsLocation_t wp;
wp.lat = posControl.waypointList[NAV_Status.activeWpIndex].lat;
wp.lon = posControl.waypointList[NAV_Status.activeWpIndex].lon;
wp.alt = posControl.waypointList[NAV_Status.activeWpIndex].alt;
geoConvertGeodeticToLocal(&poi, &posControl.gpsOrigin, &wp, GEO_ALT_RELATIVE);
distance = calculateDistanceToDestination(&poi) / 100;
}
return distance;
}
break;
case LOGIC_CONDTIION_OPERAND_WAYPOINTS_DISTANCE_FROM_WAYPOINT:
{
uint32_t distance = 0;
if ((navGetCurrentStateFlags() & NAV_AUTO_WP) && NAV_Status.activeWpIndex > 0) {
fpVector3_t poi;
gpsLocation_t wp;
wp.lat = posControl.waypointList[NAV_Status.activeWpIndex-1].lat;
wp.lon = posControl.waypointList[NAV_Status.activeWpIndex-1].lon;
wp.alt = posControl.waypointList[NAV_Status.activeWpIndex-1].alt;
geoConvertGeodeticToLocal(&poi, &posControl.gpsOrigin, &wp, GEO_ALT_RELATIVE);
distance = calculateDistanceToDestination(&poi) / 100;
}
return distance;
}
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER1) == NAV_WP_USER1) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER2) == NAV_WP_USER2) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER3) == NAV_WP_USER3) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER4) == NAV_WP_USER4) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION_NEXT_WP:
return ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER1) == NAV_WP_USER1);
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION_NEXT_WP:
return ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER2) == NAV_WP_USER2);
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION_NEXT_WP:
return ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER3) == NAV_WP_USER3);
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION_NEXT_WP:
return ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER4) == NAV_WP_USER4);
break;
default:
return 0;
break;
}
}
static int logicConditionGetFlightOperandValue(int operand) {
switch (operand) {
@ -633,10 +732,6 @@ static int logicConditionGetFlightOperandValue(int operand) {
return (navGetCurrentStateFlags() & NAV_AUTO_RTH) ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_WP: // 0/1
return (navGetCurrentStateFlags() & NAV_AUTO_WP) ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING: // 0/1
return (navGetCurrentStateFlags() & NAV_CTL_LAND) ? 1 : 0;
break;
@ -657,14 +752,6 @@ static int logicConditionGetFlightOperandValue(int operand) {
return axisPID[PITCH];
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_INDEX:
return NAV_Status.activeWpNumber;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_ACTION:
return NAV_Status.activeWpAction;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_3D_HOME_DISTANCE: //in m
return constrain(calc_length_pythagorean_2D(GPS_distanceToHome, getEstimatedActualPosition(Z) / 100.0f), 0, INT16_MAX);
break;
@ -730,12 +817,16 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return (bool) FLIGHT_MODE(NAV_POSHOLD_MODE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_WAYPOINT_MISSION:
return (bool) FLIGHT_MODE(NAV_WP_MODE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_COURSE_HOLD:
return (bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
return ((bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && !(bool)FLIGHT_MODE(NAV_ALTHOLD_MODE));
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE:
return (bool)(FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE));
return (bool) (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE));
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ALTHOLD:
@ -754,6 +845,11 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return (bool) FLIGHT_MODE(AIRMODE_ACTIVE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ACRO:
return (((bool) FLIGHT_MODE(ANGLE_MODE) || (bool) FLIGHT_MODE(HORIZON_MODE) || (bool) FLIGHT_MODE(MANUAL_MODE) || (bool) FLIGHT_MODE(NAV_RTH_MODE) ||
(bool) FLIGHT_MODE(NAV_POSHOLD_MODE) || (bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || (bool) FLIGHT_MODE(NAV_WP_MODE)) == false);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER1:
return IS_RC_MODE_ACTIVE(BOXUSER1);
break;
@ -787,7 +883,7 @@ int logicConditionGetOperandValue(logicOperandType_e type, int operand) {
case LOGIC_CONDITION_OPERAND_TYPE_RC_CHANNEL:
//Extract RC channel raw value
if (operand >= 1 && operand <= 16) {
if (operand >= 1 && operand <= MAX_SUPPORTED_RC_CHANNEL_COUNT) {
retVal = rxGetChannelValue(operand - 1);
}
break;
@ -817,6 +913,10 @@ int logicConditionGetOperandValue(logicOperandType_e type, int operand) {
retVal = programmingPidGetOutput(operand);
}
break;
case LOGIC_CONDITION_OPERAND_TYPE_WAYPOINTS:
retVal = logicConditionGetWaypointOperandValue(operand);
break;
default:
break;